DocumentCode
2382223
Title
Nonlinear Bilateral Teleoperation: Stability Analysis
Author
Nuño, Emmanuel ; Basañez, Luis
Author_Institution
Inst. of Ind. & Control Eng., Tech. Univ. of Catalonia, Barcelona, Spain
fYear
2009
fDate
12-17 May 2009
Firstpage
3718
Lastpage
3723
Abstract
This paper aims to take a first step towards the unification of the stability analysis for teleoperators with time-delays. It proposes a general Lyapunov-like function that, upon slight modification, allows to analyze the stability of different control schemes, ranging from constant to variable time delays, with or without the scattering transformation and with or without position tracking. It also presents design examples of the corresponding Lyapunov-like function for some schemes based on PD controllers and on the scattering transformation for variable time-delays.
Keywords
Lyapunov methods; delays; nonlinear control systems; stability; telerobotics; time-varying systems; Lyapunov-like function; nonlinear bilateral teleoperation; stability analysis; variable time-delay; Delay effects; Humans; Industrial control; Manipulator dynamics; Mathematical model; Robotics and automation; Robots; Scattering; Stability analysis; Teleoperators;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location
Kobe
ISSN
1050-4729
Print_ISBN
978-1-4244-2788-8
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2009.5152490
Filename
5152490
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